CN112433529B - Moving object determining method, device and equipment - Google Patents
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Abstract
The embodiment of the application provides a method, a device and equipment for determining a moving object. The method is applied to a device, the device being equipped with a sensor, the method comprising: acquiring grid maps corresponding to different moments, adjusting pixel values in the acquired grid maps to enable the pixel values corresponding to the same object in the adjusted grid maps to gradually change, overlapping the adjusted grid maps to obtain a target grid map, determining that an object moving according to a movement track indicated by the pixel value gradual change region exists in an environment where equipment is located after the target grid map including the pixel value gradual change region is identified, detecting the object moving in the environment where the equipment is located, and detecting results are accurate.
Description
Technical Field
The present disclosure relates to the field of devices, and in particular, to a method, an apparatus, and a device for determining a moving object.
Background
An automatic driving automobile (Autonomous vehicles; self-driving automobile) is also called an unmanned automobile, and is an intelligent automobile for realizing unmanned through a computer system. In the running process of the automatic driving automobile, the automatic driving automobile needs to detect objects moving in the surrounding environment so as to plan a driving route and realize safe driving. How to detect moving objects and improve the accuracy of detection results is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In order to overcome the problems in the related art, the application provides a method, a device and equipment for determining a moving object.
In a first aspect, there is provided a moving object determining method applied to an apparatus, the apparatus being mounted with a sensor, the method comprising:
acquiring grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by the sensor at each moment;
the pixel values in the obtained grid maps are adjusted, so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
overlapping the adjusted grid maps to obtain a target grid map;
after the target grid map is identified to comprise the pixel value gradual change region, determining that an object moving according to the movement track indicated by the pixel value gradual change region exists in the environment where the equipment is located.
Optionally, the adjusting the pixel values in the acquired multiple grid maps includes:
and decrementing the pixel value in each grid map according to the pixel value decrementing amplitude set for each grid map in the plurality of grid maps, wherein the pixel value decrementing amplitude corresponding to the first occurrence time is larger than the pixel value decrementing amplitude corresponding to the later occurrence time in two adjacent times for collecting the sensing data.
Optionally, the method further comprises:
and determining the motion information of the target object according to the pixel value gradual change region.
Optionally, the determining the motion information of the target object according to the pixel value gradient region includes:
determining a first position of a pixel point with a first pixel value and a second position of a pixel point with a second pixel value in the pixel value gradient region, wherein the first pixel value is larger than the second pixel value;
and determining the direction of the second position pointing to the first position as the movement direction of the target object.
Optionally, the determining the motion information of the target object according to the pixel value gradient region further includes:
determining a first distance between the first location and the second location;
determining a second distance for the target object to actually move according to the first distance and a preset distance conversion relation;
determining the time used by the target object to actually move the second distance according to the time corresponding to the grid map comprising the first pixel value and the time corresponding to the grid map comprising the second pixel value;
and dividing the second distance by the time to obtain the movement speed of the target object.
Optionally, the method further comprises:
and removing the pixel value gradual change area from the grid map corresponding to the last moment to obtain the grid map indicating the static object.
Optionally, the removing the pixel value gradient region from the grid map corresponding to the last moment includes:
determining a graph area circumscribed to the pixel value gradual change area;
and removing the graphic area from the grid map corresponding to the last moment.
In a second aspect, there is provided a moving object determining apparatus applied to a device, the device being mounted with a sensor, the apparatus comprising:
the map acquisition module is configured to acquire grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by the sensor at each moment;
the pixel value adjusting module is configured to adjust the pixel values in the acquired grid maps so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
the map stacking module is configured to stack the adjusted grid maps to obtain a target grid map;
and the moving object determining module is configured to determine that an object moving according to a movement track indicated by the pixel value gradient region exists in the environment where the equipment is located after the target grid map is identified to comprise the pixel value gradient region.
Optionally, the pixel value adjustment module is configured to decrement the pixel value in each grid map according to the pixel value decrement amplitude set for each grid map in the plurality of grid maps, where, in two adjacent moments for collecting the sensing data, the pixel value decrement amplitude corresponding to the moment when first occurs is greater than the pixel value decrement amplitude s corresponding to the moment when later occurs.
In a third aspect, there is provided an apparatus comprising: an internal bus, and a memory, a processor and an external interface connected through the internal bus; wherein,
the external interface is used for acquiring data;
the memory is used for storing machine-readable instructions corresponding to the determination of the moving object;
the processor is configured to read the machine-readable instructions on the memory and execute the instructions to implement operations comprising:
acquiring grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by the sensor at each moment;
the pixel values in the obtained grid maps are adjusted, so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
overlapping the adjusted grid maps to obtain a target grid map;
after the target grid map is identified to comprise the pixel value gradual change region, determining that an object moving according to the movement track indicated by the pixel value gradual change region exists in the environment where the equipment is located.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
the embodiment of the application provides a moving object determining method, which is characterized in that pixel values in a plurality of obtained grid maps are adjusted by obtaining grid maps corresponding to different moments, so that the pixel values corresponding to the same object in the adjusted grid maps are graded, the adjusted grid maps are overlapped to obtain a target grid map, after the target grid map is identified to comprise a pixel value graded region, an object moving according to a movement track indicated by the pixel value graded region is determined to exist in an environment where equipment is located, detection of the moving object in the environment where the equipment is located is realized, and a detection result is accurate.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart of a method of determining a moving object according to an exemplary embodiment of the present application;
fig. 2 is a schematic view of a moving object determining apparatus according to an exemplary embodiment of the present application;
fig. 3 is a schematic diagram of an apparatus according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a moving object determining method, shown in an exemplary embodiment of the present application, applied to an apparatus, the apparatus being mounted with a sensor, the embodiment may include the steps of:
in step 101, grid maps corresponding to different moments are acquired, and each grid map corresponding to each moment is a map generated according to sensing data acquired by a sensor at each moment.
The sensing data collected by the sensor is used to generate a grid map. There are various sensors, such as lidar, millimeter wave radar, cameras, etc.
The device is provided with a sensor, and the device determines whether a moving object exists in the surrounding environment according to the sensing data acquired by the sensor. There are various devices, such as automobiles, robots, etc., such as a sweeping robot.
In an embodiment, when an object exists in an environment where the device is located, a pixel value of a pixel point corresponding to the object in the grid map is referred to as a first pixel value, and for an empty area in the environment where the device is located, a pixel value of a pixel point corresponding to the empty area in the grid map is referred to as a second pixel value, where the first pixel value is different from the second pixel value, and the second pixel value may be 0 so as to be more clearly distinguished from the first pixel value.
In an embodiment, the device uses the sensor to collect sensing data at different times, and then generates a grid map according to the sensing data collected at each time, so as to obtain the grid map corresponding to different times.
For example, a laser radar is installed on a vehicle, the vehicle uses the laser radar to acquire point cloud data at different moments, and a grid map is generated according to the acquired point cloud data aiming at the point cloud data acquired at each moment, so as to obtain the grid map corresponding to different moments.
In step 102, the pixel values in the obtained multiple grid maps are adjusted, so that the pixel values corresponding to the same object in the adjusted multiple grid maps are graded.
And adjusting the pixel values in the acquired grid maps so that the pixel values of the pixel points indicating the same object in the adjusted grid maps gradually change.
The pixel values in all of the acquired grid maps may be adjusted, or the pixel values in some of the acquired grid maps may be adjusted. For example, the device uses the sensor to collect sensing data at different times, the sensing data collected at each time is used to generate a grid map, the last time of the different times is called the last time, and the pixel values in the grid map except the grid map corresponding to the last time are adjusted.
In an embodiment, the device may decrement the pixel value in each of the plurality of grid maps according to a pixel value decrement amplitude set for each of the plurality of grid maps, wherein, among two adjacent times for acquiring the sensing data, a pixel value decrement amplitude corresponding to a time of first occurrence is larger than a pixel value decrement amplitude corresponding to a time of later occurrence.
In this case, for any two adjacent times for collecting the sensing data, the difference between the decreasing amplitude of the pixel value corresponding to the first time and the decreasing amplitude of the pixel value corresponding to the second time is the same. For example, the first time t corresponds to a pixel value decreasing amplitude n+2Δn, the second time t+Δt corresponds to a pixel value decreasing amplitude n+Δn, and the third time t+2Δt corresponds to a pixel value decreasing amplitude N, where t >0, Δt >0, N >0, Δn >0. The size of each parameter can be set according to actual and needs.
The pixel values are decremented by using the same difference value, and the method has the advantages of convenience in calculation, high efficiency and the like.
In another case, for any two adjacent moments for collecting sensing data, the difference between the decreasing amplitude of the pixel value corresponding to the moment when the sensing data occurs first and the decreasing amplitude of the pixel value corresponding to the moment when the sensing data occurs later is not identical.
In step 103, the adjusted plurality of grid maps are stacked to obtain a target grid map.
In an embodiment, stacking the adjusted multiple grid maps may be understood as adding the pixel values at the same position in the adjusted multiple grid maps, and taking the addition result of the pixel values as the pixel value at the position in the target grid map.
Other suitable stacking means are also possible, and the present application is not limited.
In step 104, after identifying that the target grid map includes a pixel value gradient region, it is determined that an object moving according to a movement track indicated by the pixel value gradient region exists in an environment where the device is located.
When a moving object exists in the environment where the device is located, the positions of the object at different moments are changed, so that the pixel points used for indicating the object in the grid map are changed, and as the pixel values corresponding to the object in the grid map are different from the pixel values corresponding to the empty areas, after the grid maps corresponding to different moments are overlapped in the mode, a pixel value gradual change area is formed in the obtained target grid map, and the pixel value gradual change area indicates the movement track of the object.
For example, there is a second vehicle running around the first vehicle, in the grid map corresponding to time t, pixel a indicates the second vehicle, the pixel value of pixel a is M, and the pixel values of pixel b and pixel c are zero; in the grid map corresponding to the time t+delta t, the pixel point b indicates a second vehicle, the pixel value of the pixel point b is M, and the pixel values of the pixel point a and the pixel point c are zero; in the grid map corresponding to the time t+2Δt, the pixel point c indicates the second vehicle, the pixel value of the pixel point c is M, and the pixel values of the pixel point a and the pixel point b are zero.
The non-zero pixel value in the grid map corresponding to the time t is decremented, the pixel value decrementing amplitude is 2N, the pixel value of a pixel point a in the decremented grid map is M-2N, the pixel values of a pixel point b and a pixel point c in the grid map corresponding to the time t+delta t are all zero, the pixel value decrementing amplitude is N, the pixel value of a pixel point b in the decremented grid map is M-N, the pixel value of a pixel point a and the pixel point c in the decremented grid map are all zero, the grid map corresponding to the time t+2delta t and the two decremented grid maps are overlapped to obtain a target grid map, in the target grid map, the pixel value of the pixel point a is M-2N, the pixel value of the pixel point b is M-N, the pixel value of the pixel point a, the pixel point b and the pixel point c exist gradually-changing in the grid map, the pixel value of the pixel point b and the pixel point c form a gradually-changing area, namely, the pixel point b and the pixel point c indicate the motion area surrounding the motion area of the moving object.
In an embodiment, the pixel value gradient region indicates a motion track of the object, and the pixel value gradient region is removed from the grid map corresponding to the last moment, so as to obtain the grid map indicating the static object.
Each time corresponds to a grid map, and the time at which the last occurrence occurs among a plurality of times corresponding to different grid maps is referred to as the last time.
The operation of removing the pixel value gradient region from the grid map corresponding to the last moment can be realized by the following modes: and determining a graph area circumscribed to the pixel value gradual change area, and removing the graph area from the grid map corresponding to the last moment.
For example, the image area circumscribed to the pixel value gradient area may be a rectangular area circumscribed to the pixel value gradient area, and the rectangular area circumscribed to the pixel value gradient area is removed from the grid map corresponding to the last moment, so as to obtain the grid map indicating the static object.
In an embodiment, the apparatus may further determine motion information of the target object according to the pixel value gradient region. The motion information may include at least one of: direction of movement, speed of movement, time of movement, etc.
For example, there are a first position and a second position in the pixel value gradation region, the pixel point located at the first position has a first pixel value, the pixel point located at the second position has a second pixel value, and the first pixel value is larger than the second pixel value. The apparatus may determine a first position of the pixel point having the first pixel value and a second position of the pixel point having the second pixel value in the pixel value gradation region, and determine a direction in which the second position points to the first position as a moving direction of the target object. In this example, the apparatus may determine the movement direction of the target object according to the pixel value gradient region.
There are a number of ways to determine the first pixel value and the second pixel value. The device may determine a specified pixel value in the pixel value gradient region as a first pixel value and another specified pixel value in the pixel value gradient region as a second pixel value. Examples: first case: the one specified pixel value is a maximum pixel value and the other specified pixel value is a minimum pixel value;
second case: the pixel values in the pixel value gradual change region gradually become larger from the left side to the right side, the pixel values are ordered from small to large, the specified pixel value is the pixel value corresponding to the first preset sequence number, the other pixel value is the pixel value corresponding to the second preset sequence number, and the first preset sequence number is larger than the second preset sequence number;
third case: the pixel values in the pixel value gradual change region gradually become larger from the left side to the right side, the sequence of the pixel values from small to large exists, a first proportion and a second proportion are preset, the first proportion is larger than the second proportion, the number of the pixel points in the pixel value gradual change region is multiplied by the first proportion to obtain a first numerical value, the number of the pixel points in the pixel value gradual change region is multiplied by the second proportion to obtain a second numerical value, the one specified pixel value is the pixel value corresponding to the serial number with the first numerical value, and the other specified pixel value is the pixel value corresponding to the serial number with the second numerical value. For example, the first ratio is 90% and the second ratio is 10%.
The device may determine the first pixel value from a plurality of pixel values having a larger value in the pixel value gradient region and determine the second pixel value from a plurality of pixel values having a smaller value in the pixel value gradient region.
Examples: the pixel values in the pixel value gradient region become gradually larger, there is an order of the pixel values from small to large, the order sequence number is assumed to be 1-P, P >0, an average value of (P-m+1) pixel values corresponding to the order sequence numbers (P-m) to P in the pixel value gradient region is calculated, the obtained average value is determined as a first pixel value, an average value of n pixel values corresponding to the order sequence number 1-n in the pixel value gradient region is calculated, the obtained average value is determined as a second pixel value, wherein 1< n < m < P, or 1< n < P,1< m < P, and n > m.
In an embodiment, the device may further determine a first distance between the first location and the second location, determine a second distance for the target object to actually move according to the first distance and a preset distance conversion relationship, determine a time taken for the target object to actually move by the second distance according to a time corresponding to the grid map including the first pixel value and a time corresponding to the grid map including the second pixel value, and divide the second distance by the determined time to obtain the movement speed of the target object. The preset distance conversion relationship is a conversion relationship between the size in the grid map and the size in the geographic space.
In the above example, after the target grid map is obtained according to the three grid maps corresponding to the time t, the time t+Δt and the time t+2Δt, the pixel values of the pixel point a, the pixel point b and the pixel point c in the target grid map form the pixel value gradient region, and the distance actually moved by the second vehicle, that is, the second distance, is determined according to the first distance between the pixel point a and the pixel point c in the target grid map and the preset distance conversion relationship, and the time difference between the time t and the time t+2Δt is determined, where the time difference is the time used for actually moving the second vehicle by the second distance, and the actual running speed of the second vehicle is obtained by dividing the distance actually moved by the time difference.
In this embodiment, the apparatus may determine the movement speed of the target object according to the pixel value gradient region.
The embodiment of the application provides a moving object determining method, which is characterized in that pixel values in a plurality of obtained grid maps are adjusted by obtaining grid maps corresponding to different moments, so that the pixel values corresponding to the same object in the adjusted grid maps are graded, the adjusted grid maps are overlapped to obtain a target grid map, after the target grid map is identified to comprise a pixel value graded region, an object moving according to a movement track indicated by the pixel value graded region is determined to exist in an environment where equipment is located, detection of the moving object in the environment where the equipment is located is realized, and a detection result is accurate.
Corresponding to the aforementioned moving object determining method, embodiments of a moving object determining apparatus, a moving object determining device, and a moving object determining system are also provided.
Referring to fig. 2, which is a schematic view of a moving object determining apparatus according to an exemplary embodiment of the present application, the moving object determining apparatus shown in fig. 2 is applied to a device, which is equipped with a sensor, the apparatus comprising:
a map acquisition module 21 configured to acquire grid maps corresponding to different times, the grid map corresponding to each time being a map generated from sensing data acquired by the sensor at each time;
the pixel value adjusting module 22 is configured to adjust the pixel values in the acquired multiple grid maps, so that the pixel values corresponding to the same object in the adjusted multiple grid maps are graded;
a map stacking module 23 configured to stack the adjusted plurality of grid maps to obtain a target grid map;
the moving object determining module 24 is configured to determine that, after identifying that the target grid map includes a pixel value gradient region, an object moving according to a movement track indicated by the pixel value gradient region exists in an environment where the device is located.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements described above as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Referring to fig. 3, which is a schematic diagram of an apparatus according to an exemplary embodiment of the present application, the apparatus shown in fig. 3 may include: a memory 320, a processor 330, and an external interface 340 connected by an internal bus 310;
wherein, the external interface 340 is used for acquiring data;
a memory 320 for storing machine-readable instructions corresponding to the determination of the moving object;
a processor 330 for reading the machine readable instructions on the memory 320 and executing the instructions to perform the following operations:
acquiring grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by the sensor at each moment;
the pixel values in the obtained grid maps are adjusted, so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
overlapping the adjusted grid maps to obtain a target grid map;
after the target grid map is identified to comprise the pixel value gradual change region, determining that an object moving according to the movement track indicated by the pixel value gradual change region exists in the environment where the equipment is located.
The non-transitory computer readable storage medium may be a ROM, random-access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A moving object determining method, characterized by being applied to an apparatus, the apparatus being mounted with a sensor, the method comprising:
acquiring grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by the sensor at each moment;
the pixel values in the obtained grid maps are adjusted, so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
overlapping the adjusted grid maps to obtain a target grid map;
after the target grid map is identified to comprise the pixel value gradual change region, determining that an object moving according to the movement track indicated by the pixel value gradual change region exists in the environment where the equipment is located.
2. The method of claim 1, wherein adjusting pixel values in the acquired plurality of grid maps comprises:
and decrementing the pixel value in each grid map according to the pixel value decrementing amplitude set for each grid map in the plurality of grid maps, wherein the pixel value decrementing amplitude corresponding to the first occurrence time is larger than the pixel value decrementing amplitude corresponding to the later occurrence time in two adjacent times for collecting the sensing data.
3. The method according to claim 1, wherein the method further comprises:
and determining the motion information of the target object according to the pixel value gradual change region.
4. A method according to claim 3, wherein determining the motion information of the target object according to the pixel value gradient region comprises:
determining a first position of a pixel point with a first pixel value and a second position of a pixel point with a second pixel value in the pixel value gradient region, wherein the first pixel value is larger than the second pixel value;
and determining the direction of the second position pointing to the first position as the movement direction of the target object.
5. The method of claim 4, wherein determining motion information of the target object according to the pixel value gradient region, further comprises:
determining a first distance between the first location and the second location;
determining a second distance for the target object to actually move according to the first distance and a preset distance conversion relation;
determining the time used by the target object to actually move the second distance according to the time corresponding to the grid map comprising the first pixel value and the time corresponding to the grid map comprising the second pixel value;
and dividing the second distance by the time to obtain the movement speed of the target object.
6. The method according to claim 1, wherein the method further comprises:
and removing the pixel value gradual change area from the grid map corresponding to the last moment to obtain the grid map indicating the static object.
7. The method of claim 6, wherein the removing the pixel value gradient region from the grid map corresponding to the last moment comprises:
determining a graph area circumscribed to the pixel value gradual change area;
and removing the graphic area from the grid map corresponding to the last moment.
8. A moving object determining apparatus, characterized by being applied to a device, the device being mounted with a sensor, the apparatus comprising:
the map acquisition module is configured to acquire grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by the sensor at each moment;
the pixel value adjusting module is configured to adjust the pixel values in the acquired grid maps so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
the map stacking module is configured to stack the adjusted grid maps to obtain a target grid map;
and the moving object determining module is configured to determine that an object moving according to a movement track indicated by the pixel value gradient region exists in the environment where the equipment is located after the target grid map is identified to comprise the pixel value gradient region.
9. The apparatus according to claim 8, wherein:
the pixel value adjustment module is configured to decrement the pixel value in each grid map according to the pixel value decrement amplitude set for each grid map in the plurality of grid maps, wherein the pixel value decrement amplitude corresponding to the first occurrence time is larger than the pixel value decrement amplitude corresponding to the later occurrence time in two adjacent times for collecting the sensing data.
10. An apparatus, comprising: an internal bus, and a memory, a processor and an external interface connected through the internal bus; wherein,
the external interface is used for acquiring data;
the memory is used for storing machine-readable instructions corresponding to the determination of the moving object;
the processor is configured to read the machine-readable instructions on the memory and execute the instructions to implement operations comprising:
acquiring grid maps corresponding to different moments, wherein the grid map corresponding to each moment is a map generated according to sensing data acquired by a sensor at each moment;
the pixel values in the obtained grid maps are adjusted, so that the pixel values corresponding to the same object in the adjusted grid maps are gradually changed;
overlapping the adjusted grid maps to obtain a target grid map;
after the target grid map is identified to comprise the pixel value gradual change region, determining that an object moving according to the movement track indicated by the pixel value gradual change region exists in the environment where the equipment is located.
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